Line a plate with parchment paper or spray with nonstick cooking spray.
Heat the chocolate chips in a bowl in the microwave for 30 seconds, then stir very well. Continue to microwave in 20-second increments, stirring, until melted and smooth. While warm, using the back of spoon, coat one end of a straw with melted chocolate, making sure the chocolate sticks. Shake off any excess. Sprinkle the peanuts evenly over the wet chocolate and place onto the prepared plate; repeat for the second straw. Transfer the plate with the straws to the freezer to set, about 5 minutes. Place 2 glasses in the freezer to chill, 3 to 5 minutes.
In the base of a blender, add the milk, vanilla extract, salt and vanilla ice cream and liquefy until smooth. Pour into the chilled glasses, top with whipped cream and serve with a dipped straw!